Abstract
This paper describes an approach to using machine vision to provide sensor feedback to robotic manipulators and shows how tasks may be taught, represented and repeated. This work was undertaken in order to increase the flexibility within a plant in which robotic manipulators are used to weld ship parts. This task has several features which are characteristic of a broad range of tasks in flexible manufacturing; the robot is required to accurately position a tool relative to a target structure (the workpiece) which may be inaccurately located with respect to the robot. This requirement imposes the constraint that the robot must be able to sense the structures in its environment in some way and machine vision provides a flexible way to achieve this.
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Drummond, T., Cipolla, R. (2001). Towards Artificial Action: Teaching by Showing. In: Cantoni, V., Di Gesù, V., Setti, A., Tegolo, D. (eds) Human and Machine Perception 3. Springer, Boston, MA. https://doi.org/10.1007/978-1-4615-1361-2_21
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DOI: https://doi.org/10.1007/978-1-4615-1361-2_21
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